{"id":"https://openalex.org/W3110370457","doi":"https://doi.org/10.1145/3424636.3426894","title":"Deep Integration of Physical Humanoid Control and Crowd Navigation","display_name":"Deep Integration of Physical Humanoid Control and Crowd Navigation","publication_year":2020,"publication_date":"2020-10-16","ids":{"openalex":"https://openalex.org/W3110370457","doi":"https://doi.org/10.1145/3424636.3426894","mag":"3110370457"},"language":"en","primary_location":{"id":"doi:10.1145/3424636.3426894","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3424636.3426894","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Motion, Interaction and Games","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090995325","display_name":"Brandon Haworth","orcid":"https://orcid.org/0000-0001-8134-0047"},"institutions":[{"id":"https://openalex.org/I212119943","display_name":"University of Victoria","ror":"https://ror.org/04s5mat29","country_code":"CA","type":"education","lineage":["https://openalex.org/I212119943"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Brandon Haworth","raw_affiliation_strings":["University of Victoria Victoria, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Victoria Victoria, Canada","institution_ids":["https://openalex.org/I212119943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045351810","display_name":"Glen Berseth","orcid":"https://orcid.org/0000-0001-7351-8028"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Glen Berseth","raw_affiliation_strings":["University of California Berkeley Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California Berkeley Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078960572","display_name":"Seonghyeon Moon","orcid":"https://orcid.org/0000-0002-9250-5123"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seonghyeon Moon","raw_affiliation_strings":["Rutgers University New Jersey, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University New Jersey, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017351117","display_name":"Petros Faloutsos","orcid":"https://orcid.org/0000-0002-4508-010X"},"institutions":[{"id":"https://openalex.org/I1325899441","display_name":"University Health Network","ror":"https://ror.org/042xt5161","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I1325899441"]},{"id":"https://openalex.org/I192455969","display_name":"York University","ror":"https://ror.org/05fq50484","country_code":"CA","type":"education","lineage":["https://openalex.org/I192455969"]},{"id":"https://openalex.org/I2799838188","display_name":"Toronto Rehabilitation Institute","ror":"https://ror.org/00mxe0976","country_code":"CA","type":"healthcare","lineage":["https://openalex.org/I1325899441","https://openalex.org/I2799838188"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Petros Faloutsos","raw_affiliation_strings":["York University Toronto Canada and University Health Network: Toronto Rehabilitation Institute, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"York University Toronto Canada and University Health Network: Toronto Rehabilitation Institute, Canada","institution_ids":["https://openalex.org/I2799838188","https://openalex.org/I192455969","https://openalex.org/I1325899441"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069589954","display_name":"Mubbasir Kapadia","orcid":"https://orcid.org/0000-0002-3501-0028"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mubbasir Kapadia","raw_affiliation_strings":["Rutgers University New Jersey, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University New Jersey, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6641,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.86723482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"10"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7805966734886169},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7566823363304138},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5372002124786377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5367039442062378},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4686889946460724},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4291057586669922},{"id":"https://openalex.org/keywords/crowd-psychology","display_name":"Crowd psychology","score":0.4216157793998718},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37019848823547363},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33471280336380005},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.13213282823562622},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10732173919677734}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7805966734886169},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7566823363304138},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5372002124786377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5367039442062378},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4686889946460724},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4291057586669922},{"id":"https://openalex.org/C44042526","wikidata":"https://www.wikidata.org/wiki/Q1355183","display_name":"Crowd psychology","level":2,"score":0.4216157793998718},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37019848823547363},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33471280336380005},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.13213282823562622},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10732173919677734},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3424636.3426894","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3424636.3426894","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Motion, Interaction and Games","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.library.uvic.ca:1828/12458","is_oa":false,"landing_page_url":"http://hdl.handle.net/1828/12458","pdf_url":null,"source":{"id":"https://openalex.org/S4306401509","display_name":"UVic\u2019s Research and Learning Repository (University of Victoria)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I212119943","host_organization_name":"University of Victoria","host_organization_lineage":["https://openalex.org/I212119943"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Postprint"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W156814138","https://openalex.org/W192919555","https://openalex.org/W1164749991","https://openalex.org/W1191599655","https://openalex.org/W1496701711","https://openalex.org/W1515537504","https://openalex.org/W1542941925","https://openalex.org/W1594201624","https://openalex.org/W1641379095","https://openalex.org/W1656336092","https://openalex.org/W1771410628","https://openalex.org/W1869163116","https://openalex.org/W1888172398","https://openalex.org/W1973189035","https://openalex.org/W2033226680","https://openalex.org/W2033837938","https://openalex.org/W2073606941","https://openalex.org/W2099618002","https://openalex.org/W2104602264","https://openalex.org/W2125467116","https://openalex.org/W2127036885","https://openalex.org/W2132050104","https://openalex.org/W2142114107","https://openalex.org/W2142943472","https://openalex.org/W2145339207","https://openalex.org/W2161075061","https://openalex.org/W2163408698","https://openalex.org/W2165150801","https://openalex.org/W2165585517","https://openalex.org/W2166052572","https://openalex.org/W2167052694","https://openalex.org/W2167792456","https://openalex.org/W2208132734","https://openalex.org/W2262585296","https://openalex.org/W2369796141","https://openalex.org/W2398196411","https://openalex.org/W2593390416","https://openalex.org/W2736601468","https://openalex.org/W2739330054","https://openalex.org/W2766447205","https://openalex.org/W2798144188","https://openalex.org/W2899629811","https://openalex.org/W2900879308","https://openalex.org/W2944827102","https://openalex.org/W2963001155","https://openalex.org/W2963407617","https://openalex.org/W2963430173","https://openalex.org/W4205985701"],"related_works":["https://openalex.org/W2766376871","https://openalex.org/W2108826648","https://openalex.org/W3074294383","https://openalex.org/W2742483371","https://openalex.org/W4377293004","https://openalex.org/W4206669594","https://openalex.org/W3205518263","https://openalex.org/W2959276766","https://openalex.org/W4295941380","https://openalex.org/W2800737007"],"abstract_inverted_index":{"Many":[0],"multi-agent":[1,42,67,130],"navigation":[2,43,68,131],"approaches":[3],"make":[4],"use":[5,56],"of":[6,19,21,47,57,166,172],"simplified":[7],"representations":[8],"such":[9],"as":[10,159],"a":[11,35,82],"disk.":[12],"These":[13],"simplifications":[14],"allow":[15],"for":[16],"fast":[17],"simulation":[18,26],"thousands":[20],"agents":[22,141,173],"but":[23],"limit":[24],"the":[25,55,143,149],"accuracy":[27],"and":[28,41,70,76,116,136,142,157,174],"fidelity.":[29],"In":[30,45],"this":[31],"paper,":[32],"we":[33,53],"propose":[34],"fully":[36],"integrated":[37],"physical":[38],"character":[39,134],"control":[40],"method.":[44],"place":[46],"sample":[48],"complex":[49],"online":[50],"planning":[51],"methods,":[52],"extend":[54],"recent":[58],"deep":[59],"reinforcement":[60],"learning":[61],"techniques.":[62],"This":[63,94],"extension":[64],"improves":[65],"on":[66],"models":[69],"simulated":[71],"humanoids":[72],"by":[73,100],"combining":[74],"Multi-Agent":[75],"Hierarchical":[77],"Reinforcement":[78],"Learning.":[79],"We":[80],"train":[81],"single":[83],"short":[84],"term":[85],"goal-conditioned":[86],"low-level":[87],"policy":[88],"to":[89],"provide":[90],"directed":[91],"walking":[92],"behaviour.":[93],"task-agnostic":[95],"controller":[96],"can":[97],"be":[98],"shared":[99],"higher-level":[101],"policies":[102],"that":[103,148],"perform":[104],"longer-term":[105],"planning.":[106],"The":[107],"proposed":[108,150],"approach":[109],"produces":[110],"reciprocal":[111],"collision":[112],"avoidance,":[113],"robust":[114],"navigation,":[115],"emergent":[117],"crowd":[118],"behaviours.":[119],"Furthermore,":[120],"it":[121],"offers":[122],"several":[123],"key":[124],"affordances":[125],"not":[126],"previously":[127],"possible":[128],"in":[129,164],"including":[132],"tunable":[133],"morphology":[135],"physically":[137],"accurate":[138],"interactions":[139],"with":[140],"environment.":[144],"Our":[145],"results":[146],"show":[147],"method":[151],"outperforms":[152],"prior":[153],"methods":[154],"across":[155],"environments":[156],"tasks,":[158],"well":[160,163],"as,":[161],"performing":[162],"terms":[165],"zero-shot":[167],"generalization":[168],"over":[169],"different":[170],"numbers":[171],"computation":[175],"time.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}